CN102815348B - Four-feet climbing robot - Google Patents
Four-feet climbing robot Download PDFInfo
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- CN102815348B CN102815348B CN201210346803.3A CN201210346803A CN102815348B CN 102815348 B CN102815348 B CN 102815348B CN 201210346803 A CN201210346803 A CN 201210346803A CN 102815348 B CN102815348 B CN 102815348B
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- steering wheel
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Abstract
The invention relates to a four-feet climbing robot, comprising a trunk, upper limbs, lower limbs, hands and feet, wherein shoulder steering engines are located at the upper parts of two trunk side plates and elbow steering engines are connected with the shoulder steering engines through rear arms; a wrist steering engine is located between each hand and each front arm; hip steering engines are located at the inner sides of the lower parts of the two trunk side plates; a thigh is located between each hip steering engine and a knee steering engine; and shanks are fixedly connected with the feet and the knee steering engines. A shoulder rotary pair can be rotated in a vertical plane; an elbow rotary pair and a wrist rotary pair rotate in a horizontal plane; and a hip rotary pair and a knee rotary pair rotate in a vertical plane. A structure that the robot embraces a rod body to climb is realized through simulating an animal body structure and a tree climbing manner. When the robot climbs the rod body, an inclined angle is formed between the robot and the rod body, the hands and the feet have mutual effects with the rod body to generate a friction force, so that the robot is self-locked on the rod body under the effect of self gravity; and other clamping mechanisms are not needed, so that the four-feet climbing robot saves the energy consumption and also can improve the energy utilization rate of the robot.
Description
Technical field
The present invention relates to Robotics field, specifically, relate to a kind of bionical quadruped robot with climbing ability.
Background technology
Along with the development of Robotics, in the modern life, the application of Robotics is increasing.Climbing robot is one of widely used robot, and application is extensive.In civil area, high tower maintenance, environmental monitoring, trees preventing disease and pest, electric wire sets up and the aloft work such as maintenance, source for street light maintenance and replacing in, climbing robot can substitute people and carry out this type of dangerous operation; In military domain, can be afield for hidden investigation and goods and materials, the task such as transport.That existing climbing robot has is telescopic, convertible, around the formula of climbing, but there is robot motion's very flexible in these climbing modes, the action radius of health each several part is less, the little and low problem of capacity usage ratio of the load of creeping.
In patent of invention CN101695835A, disclose the convertible climbing robot of a kind of intelligence, this robot has paw, pivot arm and the flip-arm structure of clamping, uses turn-over type climbing mode.But owing to clamping paw, be active clamping mode, therefore the gripping power aspect providing is provided part energy.A kind of remote-control rod-climbing rope-climbing robot has been described in patent CN101492073A, this robot has upper self-locking frame and lower self-locking frame, robot can be self-locking on the body of rod, but the propulsive effort of self-locking being to be provided by self-locking motor, is not to realize self-locking by self gravitation effect.
Existing disclosed document, " A Climbing Parallel Robot " < < parallel robot > > that can climb (U.S. " Robotics and Automation Magazine " < < robot and automation > >, in March, 2006, the 13rd the 16th page of the 1st phase of volume .) a kind of climbing robot has been proposed in paper, robot has a kind of Multifunctional grip device, can make robot in pipeline, outside pipeline, on metal pylon, climb, but holding device is active clamping mode, therefore need to provide extra energy for clamping.
Summary of the invention
For fear of the deficiencies in the prior art, the problem that load is little, capacity usage ratio is low of creeping while overcoming its climbing, the present invention proposes a kind of four-footed climbing robot; By imitating body structure and the climbing trees mode of sloth, realize robot and embrace the structure that the body of rod is climbed.During the robot climbing body of rod, according to body of rod diameter, produce angle of inclination, between hand and foot and the body of rod, there is interactional pressure, produce friction force is self-locking on the body of rod robot under self gravitation effect, do not need special clamping mechanism, can save energy, improve robot capacity usage ratio.
The technical solution adopted for the present invention to solve the technical problems is: four-footed climbing robot is comprised of trunk, upper limbs, lower limb, comprise trunk side plate, trunk transverse slat, hand, wrist steering wheel, forearm, ancon steering wheel, postbrachium, shoulder steering wheel, hip steering wheel, thigh, knee steering wheel, shank, foot, steering wheel cover, wedge, axle drive shaft
Described trunk side plate is two and is parallel to each other and is arch plate, and the identical trunk transverse slat parallel equidistant of four structures, between two trunk side plates, and is connected with trunk side plate is vertical; Shoulder steering wheel is positioned at two trunk side plate upper outside, by steering wheel cover and wedge and trunk side plate, is connected; Ancon steering wheel is connected with shoulder steering wheel by postbrachium; Wrist steering wheel is between hand and forearm; One end of forearm is overlapped with ancon steering wheel and is connected by steering wheel, and the other end and wrist steering wheel are connected; Two hip steering wheels are positioned at the inner side of trunk side plate bottom, and thigh is between hip steering wheel and knee steering wheel; Shank front end is connected with foot, and rear portion and knee steering wheel are connected; Shoulder revolute pair is rotated in perpendicular, and ancon and wrist revolute pair are rotated in horizontal surface, and hip and knee revolute pair are rotated in perpendicular;
Described postbrachium is two identical spill plates, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is vertical connection mutually;
Described forearm is two spill plates identical and that tilt with side direction connecting portion, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is fitted and connected mutually;
Described hand is two identical arc rod members, and one end of two rod members is respectively equipped with vertical connecting bore;
Described thigh is two identical spill plates, the uniform mounting hole in both ends and middle part, bottom surface, and outside bottom surface is fitted and connected mutually, and one end of thigh is connected with the axle drive shaft of hip steering wheel, and the other end is connected with the axle drive shaft of knee steering wheel;
Described shank is two spill plates that width is different, the uniform mounting hole in both ends and middle part, bottom surface, and the connection that fits of two spill plate bottom surfaces, one end and the foot of shank are connected, and the other end is overlapped with knee steering wheel and is connected by steering wheel;
Described foot is two identical arc rod members, and one end of two rod members is respectively equipped with vertical connecting bore.
The angle of described wedge is 8-12 °.
Described forearm two spill plate side direction angles are 75-80 °.
The invention has the beneficial effects as follows: four-footed climbing robot, comprise trunk, upper limbs, lower limb, hand and foot, shoulder steering wheel is positioned at two trunk side plate tops, and ancon steering wheel is connected with shoulder steering wheel by postbrachium; Wrist steering wheel is between hand and forearm; Hip steering wheel is positioned at the inner side of two trunk side plate bottoms, and thigh is between hip steering wheel and knee steering wheel; Shank and foot and knee steering wheel are connected.Shoulder revolute pair is rotated in perpendicular, and ancon and wrist revolute pair are rotated in horizontal surface, and hip and knee revolute pair are rotated in perpendicular.By imitating body structure and the climbing trees mode of animal, realize robot and embrace the structure that the body of rod is climbed.When this climbing robot is embraced the body of rod, according to body of rod diameter, produce the inclination of certain angle, making has interactional pressure between hand and foot and the body of rod, to produce enough friction force, robot can be self-locking on the body of rod under self gravitation effect, and do not need special clamping mechanism, thereby save energy, improve robot capacity usage ratio.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of four-footed climbing robot of the present invention is described in further detail.
Fig. 1 is four-footed climbing robot schematic diagram of the present invention.
Fig. 2 is wrist steering wheel schematic diagram.
Fig. 3 is steering wheel nested structure schematic diagram.
Fig. 4 is wedge assembling schematic diagram.
Fig. 5 is hand and wrist part structure schematic diagram.
Fig. 6 is rear arm structure schematic diagram.
Fig. 7 is forearm structure schematic diagram.
Fig. 8 is thigh structural representation.
Fig. 9 is shank structural representation.
Figure 10 is the schematic three dimensional views of the robot climbing body of rod.
Figure 11 is the lateral plan of the robot climbing body of rod.
In figure:
1. hand 2. wrist steering wheel 3. forearm 4. ancon steering wheel 5. steering wheels overlap 6. postbrachium 7. shoulder steering wheel 8. wedge 9. trunk side plate 10. trunk transverse slat 11. hip steering wheel 12. thigh 13. knee steering wheel 14. shank 15. foot 16. steering wheel mounting hole 17. axle drive shafts
The specific embodiment
The present embodiment is a kind of four-footed climbing robot, by imitating body structure and the climbing tree bar mode thereof of animal, realizes robot and embraces the structure that the body of rod is climbed.When climbing robot is on the body of rod during transfixion, fuselage can produce according to the body of rod diameter inclination of certain angle, and hand embraces the body of rod, and foot is climbed and pedaled the body of rod.Between hand and foot and the body of rod, have pressure, when angle of inclination is in appropriate scope, pressure can produce enough friction force makes robot on the body of rod, keep balance.Robot is self-locking on the body of rod under self gravitation effect, realizes the action of climbing.
Consult Fig. 1-Figure 11, four-footed climbing robot of the present invention comprises hand 1, wrist steering wheel 2, forearm 3, ancon steering wheel 4, steering wheel cover 5, postbrachium 6, shoulder steering wheel 7, wedge 8, trunk side plate 9, trunk transverse slat 10, hip steering wheel 11, thigh 12, knee steering wheel 13, shank 14, foot 15, steering wheel mounting hole 16, axle drive shaft 17.Two shoulder steering wheels 7 lay respectively at two trunk side plate 9 upper outside, and by steering wheel, overlap 5 and be connected with trunk side plate 9 with wedge 8; Ancon steering wheel 4 is connected with shoulder steering wheel 7 by postbrachium 6; Wrist steering wheel 2 is connected with ancon steering wheel 4 with steering wheel cover 5 by forearm 3; Hand 1 is connected with wrist steering wheel 2 by upper and lower two stepped appearance metal sheets; Four trunk transverse slats 10 are between two trunk side plates 9, and trunk transverse slat 10 two ends are fixedly connected with trunk side plate 9; Two hip steering wheels 11 are positioned at the inner side of trunk side plate 9 bottoms, overlap 5 be connected with trunk side plate 9 by steering wheel; Knee steering wheel 13 is connected with hip steering wheel 11 by thigh 12; Foot 15 is connected with knee steering wheel 13 with steering wheel cover 5 by shank 14.On steering wheel cover 5, have steering wheel mounting hole 16, steering wheel is connected by steering wheel mounting hole 16 and steering wheel cover 5, and steering wheel cover 5 is arranged on steering wheel outside.Wedge 8 is that an angle is the metal wedge of 8-12 °, and the inclined-plane, both sides of wedge 8 is simultaneously close to steering wheel and is overlapped 5 bottom surfaces and be connected by mounting hole and steering wheel cover 5, and another side is close to trunk side plate 9 outsides and is connected by mounting hole and trunk side plate 9.
As shown in Figure 5, two stepped appearance sheetmetals of connection hand 1 and wrist steering wheel 2 are the symmetrical both sides up and down that are installed on wrist steering wheel 2 respectively, formed hand 1 connection structure that one end is wide, one end is narrow, wide one end is connected by the axle drive shaft 17 of mounting hole and wrist steering wheel 2, narrow one end is connected by mounting hole and hand 1, has formed wrist revolute pair.
As shown in Figure 6, postbrachium 6 is fitted and connected mutually in bottom surface by two identical female parts, and two female parts are connected by the mounting hole of bottom, and vertical one-tenth is cross-shaped mutually; One end of postbrachium 6 is connected with the axle drive shaft 17 of shoulder steering wheel 7, and the other end is connected with the axle drive shaft 17 of ancon steering wheel 4, forms the revolute pair of shoulder and ancon.As shown in Figure 7, forearm 3 is fitted and connected mutually in bottom surface by the female part of two identical inclinations, and the angle of female part bottom surface and side is 75-80 °; Two female parts are connected by the mounting hole of bottom; One end of forearm 3 is connected by the steering wheel cover 5 of mounting hole and ancon, and the steering wheel cover 5 of the other end and wrist is connected.3 one-tenth 150-160 of two upper limbs forearms ° bending.
As shown in Figure 8, thigh 12 is fitted and connected mutually in bottom surface by two identical female parts, and two female parts are fixedly connected with by the mounting hole of bottom; One end of thigh 12 is connected with the axle drive shaft 17 of hip steering wheel 11, and the other end is connected with the axle drive shaft 17 of knee steering wheel 13, forms the revolute pair of hip and knee.
As shown in Figure 9, shank 14 is fitted and connected mutually in bottom surface by two different female parts, and two female parts are connected by the mounting hole of bottom; Shank 14 one end by mounting hole and foot 15, be connected, the steering wheel cover 5 of the other end by mounting hole and knee is connected.
As shown in Figure 1, shoulder revolute pair is rotated in perpendicular, and hip and knee revolute pair are rotated in perpendicular.When upper limbs is positioned at level attitude, ancon and wrist revolute pair that ancon steering wheel 4 and wrist steering wheel 2 form are rotated in horizontal surface.
Referring to 10, Figure 11, two hands 1 of robot are embraced the body of rod, two foots 15 are also climbed respectively and are pedaled the body of rod, under the Action of Gravity Field of robot self, there is an anti-clockwise moment to foot 15 and the contact point of the body of rod in the center of gravity of robot; Therefore between the hand 1 of the body of rod and robot, there is pressure between the body of rod and foot 15, the friction force that pressure produces makes robot on the body of rod, keep balance, keeps self-locking state.Climbing robot adopts diagonal gait, and left upper extremity and right lower extremity move simultaneously, and right upper extremity and left lower extremity move simultaneously.The climbing process of robot and the animal sloth similar process of climbing tree, when robot starts upwards to climb, first controls left hand and right foot leaves the body of rod, the more left shoulder joint of robot and right knee joint is upwards rotated; Simultaneously right shoulder joint and the left knee joint of control rotate, but the right hand and left foot be still self-locking on the body of rod, thereby drive whole robot upward movement.When right shoulder joint and left kneed angular turn are to starting front left shoulder joint when identical with right kneed angle with climbing, left shoulder joint also turns to the angle position identical with left knee joint with climbing beginning front right shoulder joint with right kneed angle, and left hand and right lumping weight are newly held the body of rod tightly simultaneously; Be the joint angles of left upper extremity and right lower extremity and the exchange of the joint angles of right upper extremity and left lower extremity.The second step of climbing process is similar to the first step, first controls the right hand and left foot leaves the body of rod, the righter shoulder joint of robot and left knee joint are upwards rotated; Simultaneously left shoulder joint and the right knee joint of control rotate, but left hand and right foot be still self-locking on the body of rod, drive whole robot upward movement again.One by above-mentioned climbing action, and robot only need constantly repeat to do climbing action just can upwards climb the body of rod always.
Claims (3)
1. a four-footed climbing robot, by trunk, upper limbs, lower limb, formed, it is characterized in that comprising trunk side plate, trunk transverse slat, hand, wrist steering wheel, forearm, ancon steering wheel, postbrachium, shoulder steering wheel, hip steering wheel, thigh, knee steering wheel, shank, foot, steering wheel cover, wedge, axle drive shaft
Described trunk side plate is two and is parallel to each other and is arch plate, and the identical trunk transverse slat parallel equidistant of four structures, between two trunk side plates, and is connected with trunk side plate is vertical; Shoulder steering wheel is positioned at two trunk side plate upper outside, by steering wheel cover and wedge and trunk side plate, is connected; Ancon steering wheel is connected with shoulder steering wheel by postbrachium; Wrist steering wheel is between hand and forearm; One end of forearm is overlapped with ancon steering wheel and is connected by steering wheel, and the other end and wrist steering wheel are connected; Two hip steering wheels are positioned at the inner side of trunk side plate bottom, and thigh is between hip steering wheel and knee steering wheel; Shank front end is connected with foot, and rear portion and knee steering wheel are connected; Shoulder revolute pair is rotated in perpendicular, and ancon and wrist revolute pair are rotated in horizontal surface, and hip and knee revolute pair are rotated in perpendicular;
Described postbrachium is two identical spill plates, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is vertical connection mutually; Described forearm is two spill plates identical and that tilt with side direction connecting portion, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is fitted and connected mutually; Described hand is two identical arc rod members, and one end of two rod members is respectively equipped with vertical connecting bore;
Described thigh is two identical spill plates, the uniform mounting hole in both ends and middle part, bottom surface, and outside bottom surface is fitted and connected mutually, and one end of thigh is connected with the axle drive shaft of hip steering wheel, and the other end is connected with the axle drive shaft of knee steering wheel; Described shank is two spill plates that width is different, the uniform mounting hole in both ends and middle part, bottom surface, and the connection that fits of two spill plate bottom surfaces, one end and the foot of shank are connected, and the other end is overlapped with knee steering wheel and is connected by steering wheel; Described foot is two identical arc rod members, and one end of two rod members is respectively equipped with vertical connecting bore.
2. a kind of four-footed climbing robot according to claim 1, is characterized in that: the angle of described wedge is 8-12 °.
3. a kind of four-footed climbing robot according to claim 1, is characterized in that: described forearm two spill plate side direction angles are 75-80 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210346803.3A CN102815348B (en) | 2012-09-18 | 2012-09-18 | Four-feet climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210346803.3A CN102815348B (en) | 2012-09-18 | 2012-09-18 | Four-feet climbing robot |
Publications (2)
| Publication Number | Publication Date |
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| CN102815348A CN102815348A (en) | 2012-12-12 |
| CN102815348B true CN102815348B (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210346803.3A Expired - Fee Related CN102815348B (en) | 2012-09-18 | 2012-09-18 | Four-feet climbing robot |
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| CN110588819B (en) * | 2019-08-23 | 2020-10-09 | 武汉科技大学 | Climbing robot |
| CN110979503B (en) * | 2019-12-17 | 2021-04-09 | 南京昱晟机器人科技有限公司 | Mechanical device for bionic climbing of robot |
| CN113665696B (en) * | 2021-08-13 | 2023-07-21 | 北京林业大学 | Imitation monkey standing tree climbing mechanism |
| CN113428252B (en) * | 2021-08-17 | 2022-07-12 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| CN114793668A (en) * | 2022-04-15 | 2022-07-29 | 成都理工大学 | Intelligent robot is pruned to branch |
| CN115071854A (en) * | 2022-07-05 | 2022-09-20 | 浙江工业大学 | Multifunctional tree-climbing coconut crab-imitating robot |
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